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Two problems must be solved in order to estimate the motion of an un-calibrated camera. One is the determination of the camera's parameters and the other is the correspondence matching of some features in images taken at various locations. In this paper, we propose a new technique to extract corners automatically in the sequence of images and then match the corner structures between the adjacent images. The method proposed in this paper incorporates the correct matching of the image corners in a unified algorithm for camera self-calibration and ego-motion estimation.